Abstract: The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

Abstract: The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.